CN103838362B - Gesture recognition device and combined optical device - Google Patents
Gesture recognition device and combined optical device Download PDFInfo
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- CN103838362B CN103838362B CN201210492367.0A CN201210492367A CN103838362B CN 103838362 B CN103838362 B CN 103838362B CN 201210492367 A CN201210492367 A CN 201210492367A CN 103838362 B CN103838362 B CN 103838362B
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Abstract
The present invention relates to a kind of gesture recognition device, it includes a substrate, a light-emitting component, an image sensor and a processing unit.Light-emitting component is suitable to provide a light beam according to a first frequency signal.Image sensor is arranged on substrate and the light beam of when institute's Refl-Luminous element is moved suitable for receiving an object according to a second frequency signal, to produce an object image.Processing unit is arranged on substrate and provides a command signal suitable for the object image that identification image sensor is sensed.First frequency signal has a specific cycle dependency with second frequency signal.The present invention also provides a kind of combined optical device.
Description
Technical field
The present invention relates to a kind of device for identifying and Optical devices, and in particular to a kind of gesture recognition device and it is combined
Formula Optical devices.
Background technology
It is currently used in intelligent mobile phone, general hand-held device or display device on telephone number or application program menu
Selection mode, be typically according on Touch Screen display pattern carry out object direct touching choose with confirm, either
Chosen or inputted using input unit.
For example, it is then to be selected according to keyboard, mouse or touch-control version on type computer or tablet PC on the table
Take and confirm.And on existing general mobile phone, then noncontact can be carried out by proximity sensor (proximity sensor)
Formula is sensed, and when such as mobile phone receives calls close to head, mobile phone screen can be closed.But present proximity sensing device further, environment
Light arrangement for detecting and gesture recognition device are generally all to be arranged in an electronic installation (such as mobile phone) again after each self-forming module,
Therefore overall volume just can not be effectively reduced.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art and defect, a kind of gesture recognition device is proposed, it is reduced
The processing time of ppu and the conversion for reducing input and output (input/output, IO) signal, so as to save electric power
Consumption.
Another object of the present invention is to, propose a kind of combined optical device, its integrate multiple optical sensing elements in
In one module, and can have outside combined optical sensing mechanism, while having the advantages that small volume.
Other objects and advantages of the present invention can from disclosed herein technical characteristic in be further understood.
It is that, up to one of above-mentioned or part or all of purpose or other purposes, one embodiment of the invention proposes a kind of gesture
Device for identifying, it includes a substrate, a light-emitting component, an image sensor and a processing unit.Light-emitting component is suitable to basis
One first frequency signal and a light beam is provided.Image sensor is arranged on substrate and suitable for being connect according to a second frequency signal
The light beam of object movement when institute's Refl-Luminous element is received, to produce an object image.Processing unit is arranged on substrate and fitted
A command signal is provided in the object image that identification image sensor is sensed.First frequency signal has with second frequency signal
One specific cycle dependency.
In one embodiment of this invention, image sensor is adapted to provide for a sync signal so that first frequency signal with
Second frequency signal has specific cycle dependency.
In one embodiment of this invention, light-emitting component is arranged on substrate.
In one embodiment of this invention, first frequency signal belongs to same identical cycle frequency with second frequency signal
Rate.In one embodiment of this invention, second frequency signal is the integral multiple of first frequency signal.
Another embodiment of the present invention proposes a kind of combined optical device, and it includes a light-emitting component, an image sensing
Device, an optical sensor and a processing unit.Light-emitting component is adapted to provide for an invisible light beam.Image sensor is suitable to receive one
The invisible light beam that object is moved or provided close to when institute's Refl-Luminous element, to produce one first image signal.Light sensing
Device is suitable to one visible light beam of detecting, to provide one second image signal.Processing unit is suitable to processing the first image signal or second
Image signal and export one first command signal or one second command signal respectively.
In one embodiment of this invention, the first command signal includes a gesture command signal or proximity sensing signal.
In one embodiment of this invention, the second command signal includes a sensing environment light signal.
In one embodiment of this invention, light-emitting component, image sensor, optical sensor and processing unit at least secondly
It is arranged on a substrate.
In one embodiment of this invention, image sensor is adapted to provide for a sync signal, so that the one of image sensor
One open frequency signal of frequency of exposure signal and light-emitting component has a specific cycle dependency.
Another embodiment of the present invention proposes a kind of combined optical device, and it includes a light-emitting component, a black light
Sensor, an image sensor and a processing unit.Light-emitting component is adapted to provide for an invisible light beam.Black light sensor
Suitable for receiving the invisible light beam that an object is provided close to when institute's Refl-Luminous element, to produce one first image signal.Shadow
As sensor is suitable to receive the invisible light beam that object movement when institute's Refl-Luminous element is provided, to produce one second image news
Number.Processing unit is suitable to the first image signal of processing or the second image signal and exports one first command signal or one second respectively
Command signal.
In one embodiment of this invention, processing unit is suitable to provide a startup signal according to the first command signal, with
Start a frequency of exposure signal of image sensor.
In one embodiment of this invention, a frequency of exposure signal and an open frequency of light-emitting component for image sensor
Signal has a specific cycle dependency.
In one embodiment of this invention, the first command signal includes proximity sensing signal.
In one embodiment of this invention, the second command signal includes a gesture command signal.
In one embodiment of this invention, combined optical device further includes a visible light sensor, can suitable for detecting one
Light beam is seen, to provide one the 3rd image signal.In one embodiment of this invention, processing unit is suitable to the 3rd image signal of processing
And export one the 3rd command signal.In one embodiment of this invention, the 3rd command signal includes a sensing environment light signal.
In one embodiment of this invention, light-emitting component, image sensor, black light sensor and processing unit be extremely
Less secondly being arranged on a substrate.
Following advantages are at least had based on above-mentioned, of the invention gesture recognition device and combined optical device.Due to hand
Two kinds of elements are at least had in gesture device for identifying and combined optical device to be integrated in same module, so just can be directly defeated
Go out with corresponding control command, and can reduce outside the processing time of ppu, can also reduce input and output (input/
Output, IO) signal conversion, and the consumption of electric power can be saved.In addition, the gesture recognition device and combined optical of the present invention
Device also can effectively reduce the volume and size of module using above-mentioned framework.
For the features described above and advantage of the present invention can be become apparent, special embodiment below, and coordinate institute's accompanying drawings
It is described in detail below.
Brief description of the drawings
Figure 1A is the schematic diagram of the gesture recognition device of one embodiment of the invention；
Figure 1B illustrates the schematic diagram of control figure 1A image sensor and the frequency of light-emitting component respectively；
Fig. 2 is the schematic diagram of the combined optical device of another embodiment of the present invention；
Fig. 3 is the schematic diagram of the combined optical device of further embodiment of this invention；
Fig. 4 is the schematic diagram of the combined optical device of further embodiment of this invention.
Symbol description in figure
100 gesture recognition devices
110th, 250,350 substrate
120th, 210,310 light-emitting component
130 image sensors
140th, 240,340 processing unit
TL1 first frequency signals
L1 light beams
TL2 second frequency signals
200th, 300,400 combined optical device
220th, 330 image sensor
230 optical sensors
320 black light sensors
410 visible light sensors
The invisible light beams of L1
The image signals of IM1 first
The command signals of C1 first
L2 visible light beams
The image signals of IM2 second
SYN1 sync signals
The image signals of IM21 first
The image signals of IM22 second
The command signals of C21 first
The command signals of C22 second
GS1 gesture detecting units
The command signals of C32 the 3rd
The image signals of IM3 the 3rd
Embodiment
For the present invention foregoing and other technology contents, feature and effect, one in following cooperation reference schema are preferable
In the detailed description of embodiment, can clearly it present.The direction term being previously mentioned in following examples, for example：Upper and lower, left,
It is right, front or rear etc., only it is the direction with reference to annexed drawings.Therefore, the direction term used is intended to be illustrative and not intended to limit
The present invention.
For the schematic diagram of gesture recognition device that 1A is one embodiment of the invention, and Figure 1B illustrates control figure 1A shadow respectively
As sensor and the schematic diagram of the frequency of light-emitting component.Figure 1A is please refer to, the gesture recognition device 100 of the present embodiment includes one
Substrate 110, a light-emitting component 120, an image sensor 130 and a processing unit 140.Light-emitting component 120 is configured in base
On plate 110 and suitable for providing a light beam L1 according to a first frequency signal TL1.In the present embodiment, light-emitting component 120 can be with
It is to use light emitting diode, and in order that obtaining gesture recognition device 100 has preferably sensing effect and identification speed faster
Rate, light-emitting component 120 can be that use can provide the light emitting diode of black light, and wherein light beam L1 can be infrared light or purple
Outer light, the present embodiment with infrared light as an example, but not limited to this, the demand of this partial visual user and slightly adjust
It is whole.In addition, above-mentioned substrate 110 can be general hard circuit board, flexible circuit board or lead frame, and light-emitting component 120
Be configured at the mode of substrate 110 can by the way of surface mount (SMT), routing engagement (wire bonding) mode or
Other appropriate modes.
Please continue to refer to Figure 1A, image sensor 130 is arranged on substrate 110 and suitable for according to a second frequency signal
TL2 and receive an object (such as：Hand) mobile when institute's Refl-Luminous element 120 light beam L1, to produce an object image.Specifically
For, depending on the wave-length coverage that image sensor 130 can be provided according to light-emitting component 120, if that is, light-emitting component 120 adopt
When using infrared light emitting diodes, image sensor 130 will use infrared light image sensor.In an embodiment, light
Element 120 can also be the wavelength from visible ray, now, and image sensor 130, which just can be used, can detect visible wavelength
Image sensor.In the present embodiment, image sensor 130 can be CMOS or CCD image sensors, its
Middle the present embodiment is used as implementation example using CMOS.
It should be noted that above-mentioned first frequency signal TL1 has a specific cycle related to second frequency signal TL2
Property, as shown in Figure 1B.For example, second frequency signal TL2 can be first frequency signal TL1 integral multiple, that is to say, that hair
The fluorescent lifetime of optical element 120 can be opened once for time per unit, and the time for exposure of image sensor 130 can be then per single
Position Time Exposure just may be such that image sensor 130 obtains an image for having polishing respectively under different time twice, so
With another umglazed image, wherein handling the image and umglazed image for having polishing by processing unit 140, it can filter out
The noise of background, and preferably gesture identification performance can be obtained.In an embodiment, first frequency signal TL1 and second frequency
Signal TL2 can also belong to same identical period frequency, that is to say, that image sensor 130 can only capture the image of polishing,
And processing unit 140 also can only handle the image of polishing, and directly obtain gesture identification information.Specifically, image sensing
Device 130 may be adapted to provide a sync signal SYN1 to light-emitting component 120, so that the first frequency with specific cycle dependency
Signal TL1 is synchronous with second frequency signal TL2, so except light-emitting component 120 can be avoided to be wasted at any time in opening
Outside electric power, it also may be such that image sensor 130 can accurately sense the image of polishing.
Please continue to refer to Figure 1A, processing unit 140 is arranged on substrate 110 and felt suitable for identification image sensor 130
The object image of survey and a command signal C1 is provided.Specifically, processing unit 140 can be a digital signal processing unit
(Digital signal processor, DSP), wherein processing unit 140 can be received and be handled image sensor 130 and be sensed
Object image, the information moved with judgment object is (such as：Upward gesture, downward gesture, to the left gesture, to the right gesture, to remote holder
Gesture, backward gesture or rotation gesture), (do not illustrated) to an electronic installation so as to export corresponding control command C1, to control electricity
The action of sub-device.
It is another it should be noted that due to the image sensor 130 of the present embodiment can be integrated in processing unit 140 it is same
In module (such as：The two is all configured on foregoing substrate 110), it so just can directly export the control with corresponding gesture
C1 is ordered, and can be reduced outside the processing time of ppu, input and output (input/output, IO) signal can be also reduced
Conversion, and the consumption of electric power can be saved.For example, if the whole image being transmitted of image sensor 130 for VGA images (such as：
640X480Bytes), then output data quantity is just 640X480Bytes, however, the processing unit 140 of the present embodiment can directly be located
Output control order C1 again after whole image is managed, wherein output control order C1 data volume is only 1Bytes, in other words, used
The framework of the present embodiment can be at least reduced outside 300,000 times of IO electric power, can also reduce the quantity of I/O element, and can effectively be contracted
The volume and size of little module.
Fig. 2 is the schematic diagram of the combined optical device of another embodiment of the present invention.It refer to Fig. 2, the present embodiment is answered
Box-like Optical devices 200 include a light-emitting component 210, an image sensor 220, an optical sensor 230 and a processing unit
240.In the present embodiment, light-emitting component 210 is, for example, to use the above-mentioned light-emitting component 120 referred to, therefore light-emitting component 210 is suitable
In one invisible light beam L1 of offer.In addition, in order to detect by object（Such as：Hand）The invisible light beam L1 reflected, image is passed
Sensor 220 can be that use can detect the image sensor of black light, imply that the image sensor 220 of the present embodiment is suitable to connect
Object movement or the invisible light beam L1 provided close to when institute's Refl-Luminous element 210 are received, to produce one first image signal
IM1。
Specifically, image sensor 220 can be used as detecting foregoing gesture and judge to be used, or for as
Proximity sensor is used.Specifically, when an object (such as：The hand of user or face or moved by body
Object) when moving closer to combined optical device 200, image sensor 220 will detect object image gradually brighten and
Become big, now, combined optical device 200 is just used using image sensor 220 as close induction type inductor.Certainly, in
In one embodiment, when combined optical device 200 senses object proximity, foregoing mentioned gesture detecting also may be switched to
Pattern, the image this means, captured using image sensor 220 carries out gesture judgement by processing unit 240 and exports one
First command signal C1.In the present embodiment, the first command signal C1 can be according to processing unit 240 judgement and combined type light
Learn pattern used in device 200 (such as：Gesture judgment model or proximity sensing modes) and can be a gesture command signal or one
Proximity senses signal.
Please continue to refer to Fig. 2, the optical sensor 230 of the present embodiment is suitable to one visible light beam L2 of detecting, to provide one second
Image signal IM2.Specifically, optical sensor 230 is, for example, to use traditional ambient light sensor, its can for single picture element or
It is multiple picture elements.Specifically, when ambient light changes (such as：It is dimmed or when brightening), optical sensor 230 just can detect surrounding ring
The intensity of environmental light, and the second image signal IM2 is produced to processing unit 240, now, processing unit 240 will be for being connect
The the second image signal IM2 received is handled and is produced one second command signal C2, and this means, the second command signal C2 is, for example, one
Sensing environment light signal.
In addition, processing unit 240 is, for example, to use the foregoing processing unit 140 referred to, that is to say, that processing unit 240
It can receive and handle foregoing the first image signal IM1 or the second image signal IM2, so as to export the first foregoing life respectively
Signal C1 is made or foregoing the second command signal C2 a to electronic installation (not illustrating), to control the action of electronic installation.
In the present embodiment, light-emitting component 210, image sensor 220, optical sensor 230 and processing unit 240 be at least
Secondly may be disposed on same substrate 250.Similarly, if above-mentioned image sensor 230, optical sensor 230 and processing unit
240 can be integrated in same module (such as：When at least the two is all configured at same substrate 250), so just can be directly defeated respectively
Go out the control command C2 of control command C1 or the close induction type sensing with corresponding gesture, and the processing of ppu can be reduced
Outside time, the conversion of input and output (input/output, IO) signal can be also reduced, and the consumption of electric power can be saved.Similarly,
If the whole image that image sensor 220 is transmitted be VGA images (such as：640X480Bytes), then output data quantity is just
640X480Bytes, however, the processing unit 240 of the present embodiment can directly handle after whole image output control order C1 again or
C2, wherein output control order C1, C2 data volume are only 1Bytes, in other words, similarly may be used using the framework of the present embodiment
Outside the IO electric power for reducing at least 300,000 times, the quantity of I/O element can be also reduced, and can effectively reduce the volume and size of module.
It is noted that the image sensor 220 of the present embodiment can also provide a sync signal SYN1 to light-emitting component
210, to avoid light-emitting component 210 from being wasted at any time in opening outside electric power, it also may be such that image sensor 220 is more accurate
Ground can sense the image of polishing.
Fig. 3 is the schematic diagram of the combined optical device of further embodiment of this invention.It refer to Fig. 3, the present embodiment is answered
Box-like Optical devices 300 are similar with foregoing combined optical device 200, the two difference be in：The combined type of the present embodiment
Optical devices 300 be using two different types of sensors each carry out gesture judge be used and proximity sensing be used.In detail
For thin, the combined optical device 300 of the present embodiment includes a light-emitting component 310, a black light sensor 320, a shadow
As the processing unit 340 of sensor 330 and one.Light-emitting component 310 is, for example, foregoing light-emitting component 120,210, herein just not
Repeat again.In addition, black light sensor 320 is suitable to receive an object（Such as：The hand of user）Close to when institute's Refl-Luminous
The invisible light beam L1 that element 310 is provided, to produce one first image signal IM21, wherein processing unit 340 can handle
One image signal IM21 simultaneously determines whether object proximity and produces one first command signal C21.This means, filled in combined optical
Put in 300, light-emitting component 310 and black light sensor 320 may make up a close induction type sensing unit PS1, using as judging thing
Whether body is close to be used.
In addition, image sensor 330 can use foregoing image sensor 130, therefore image sensor 330 can connect
The invisible light beam L1 that object movement when institute's Refl-Luminous element 310 is provided is received, to produce one second image signal IM22, its
Middle processing unit 340 can handle the second image signal IM22 and whether judgment object carries out a gesture path and produce one second life
Make signal C22.This means, in combined optical device 300, light-emitting component 310 may make up a gesture with image sensor 330 and detect
Unit GS1 is surveyed, whether is used using the motion track as judgment object for a gesture motion.In the present embodiment, processing unit
340, for example with the foregoing processing unit 140,240 referred to, just repeat no more herein.It is noted that processing unit
340 also can provide a startup signal according to the first command signal C21, be interrogated with the frequency of exposure for starting image sensor 330
Number.In simple terms, in order to save the electricity consumed in combined optical device 300, light-emitting component 310 and black light can be passed through
Whether sensor 320 has object close to detect, if having object close to when, processing unit 340 just can start image sensor
330, to carry out gesture sensing.Specifically, close induction type sensing unit PS1 and gesture detecting unit GS1 can share same hair
Optical element 310.
Similarly, a frequency of exposure signal of image sensor 340 also may be used with an open frequency signal of light-emitting component 310
With a specific cycle dependency, and can have the advantages that above-mentioned, just repeat no more herein.Similarly, in combined optical
In device 300, light-emitting component 310, image sensor 330, black light sensor 320 and processing unit 340 at least secondly
It is arranged on a substrate 350, and IO electric power, the quantity of I/O element and the volume and size that reduce module can be efficiently reduced,
Its reason illustrates as the aforementioned, just repeats no more herein.
Fig. 4 is the schematic diagram of the combined optical device of further embodiment of this invention.It please also refer to Fig. 3 and Fig. 4, this reality
The combined optical device 400 for applying example is similar with foregoing combined optical device 300, the two difference be in：The present embodiment
Combined optical device 400 further include a visible light sensor 410, it is seen that optical sensor 410 be suitable to detecting one visible light beam,
To provide one the 3rd image signal IM3, wherein processing unit 340 is suitable to the 3rd image signal IM31 of processing and exports one the 3rd life
Make signal C32.In the present embodiment, it is seen that optical sensor 410 is, for example, to use the foregoing optical sensor 230 referred to, therefore, the
Three command signal C32 are just foregoing sensing environment light signal, and foregoing, no longer superfluous words herein is referred in place of details.Need
Bright, processing unit 340 can optionally adjust image sensor 330, black light according to the 3rd command signal C32
The action of sensor 320 or light-emitting component 310.For example, ambient light is detected because visible light sensor 410 is mainly
Change, if if therefore ambient light it is dimmed when, the luminous intensity of light-emitting component 310 just can be turned down, and to save electric power, or turn down shadow
As sensor 330 or the frame rate (frame rate) of black light sensor 320, to improve the processing speed of processing unit 340
Degree.
It is noted that above-mentioned optical sensor can also be integrated with digital signal processing electricity simultaneously in itself with image sensor
Road (DSP), and the signal after processing is transferred to above-mentioned processing unit, now as produced by optical sensor and image sensor
Processed signal can be foregoing image signal or command signal, wherein above-mentioned processing unit just can be control unit
(MCU) or digital signal process circuit (DSP), it above are only for example, but the present invention is not limited thereto.
Following advantages are at least had based on above-mentioned, of the invention gesture recognition device and combined optical device.Due to hand
Two kinds of elements are at least had in gesture device for identifying and combined optical device to be integrated in same module, so just can be directly defeated
Go out with corresponding control command, and can reduce outside the processing time of ppu, can also reduce input and output (input/
Output, IO) signal conversion, and the consumption of electric power can be saved.In addition, the gesture recognition device and combined optical of the present invention
Device can effectively reduce the body of module simultaneously due to using foregoing structure, therefore in addition to combined optical sensing mechanism
Product and size.
It is simply described above, only presently preferred embodiments of the present invention, when the scope that the present invention is implemented can not be limited with this, i.e.,
Generally the simple equivalent changes and modifications made according to claims of the present invention and description of the invention content, all still belongs to the present invention
In the range of patent covers.In addition any embodiment or claim of the present invention be not necessary to reach disclosed herein whole mesh
Or advantage or feature.It is used in addition, summary part and title are intended merely to auxiliary patent document search, not for limiting this
The interest field of invention.
Claims (12)
1. a kind of combined optical device, it is characterised in that including：
One light-emitting component, is adapted to provide for an invisible light beam；
One image sensor, moves suitable for one object of reception or reflects the black light that the light-emitting component is provided when close
Beam, to produce one first image signal；
One optical sensor, suitable for detecting a visible light beam, to provide one second image signal；And
One processing unit, one first command signal is exported suitable for handling first image signal, and suitable for handling second shadow
One second command signal is exported as signal；
Wherein, the image sensor, the optical sensor and the processing unit are at least secondly be arranged on a substrate, thus, should
Image sensor, the optical sensor and the processing unit are integrated into single module；
Thus, the data volume for first command signal that the processing unit is exported is less than the data volume of first image signal,
And, the data volume for second command signal that the processing unit is exported is less than the data volume of second image signal.
2. combined optical device as claimed in claim 1, wherein, first command signal include a gesture command signal or
One proximity senses signal.
3. combined optical device as claimed in claim 1, wherein, second command signal is interrogated including a sensing environment light
Number.
4. combined optical device as claimed in claim 1, wherein, the image sensor is adapted to provide for a sync signal, with
Make a frequency of exposure signal of the image sensor that there is a specific cycle phase with an open frequency signal of the light-emitting component
Guan Xing.
5. a kind of combined optical device, it is characterised in that including：
One light-emitting component, is adapted to provide for an invisible light beam；
One black light sensor, suitable for receive an object close to when reflect the black light that the light-emitting component is provided
Beam, to produce one first image signal；
One image sensor, the invisible light beam that the light-emitting component is provided is reflected during suitable for receiving object movement, with
Produce one second image signal；And
One processing unit, one first command signal is exported suitable for handling first image signal, and suitable for handling second shadow
One second command signal is exported as signal；
Wherein, the image sensor, the black light sensor and the processing unit be at least secondly be arranged on a substrate, by
This, the image sensor, the black light sensor and the processing unit are integrated into single module；
Thus, the data volume for first command signal that the processing unit is exported is less than the data volume of first image signal,
And, the data volume for second command signal that the processing unit is exported is less than the data volume of second image signal.
6. combined optical device as claimed in claim 5, wherein, the processing unit is suitable to according to first command signal
There is provided one and start signal, to start a frequency of exposure signal of the image sensor.
7. combined optical device as claimed in claim 5, wherein, a frequency of exposure signal and the hair of the image sensor
One open frequency signal of optical element has a specific cycle dependency.
8. combined optical device as claimed in claim 5, wherein, first command signal includes a proximity and senses signal.
9. combined optical device as claimed in claim 5, wherein, second command signal includes a gesture command signal.
10. combined optical device as claimed in claim 5, wherein, in addition to：
One visible light sensor, suitable for detecting a visible light beam, to provide one the 3rd image signal.
11. combined optical device as claimed in claim 10, wherein, the processing unit is suitable to the 3rd image signal of processing
And export one the 3rd command signal.
12. combined optical device as claimed in claim 11, wherein, the 3rd command signal is interrogated including a sensing environment light
Number.
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| CN201710794895.4A CN107589842B (en) | 2012-11-27 | 2012-11-27 | Composite optical device |
| CN201210492367.0A CN103838362B (en) | 2012-11-27 | 2012-11-27 | Gesture recognition device and combined optical device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107589842B (en) | 2020-06-05 |
| CN107589842A (en) | 2018-01-16 |
| CN103838362A (en) | 2014-06-04 |
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